CN113995513A - Operating system and control console of interventional operation robot - Google Patents
Operating system and control console of interventional operation robot Download PDFInfo
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- CN113995513A CN113995513A CN202111501763.0A CN202111501763A CN113995513A CN 113995513 A CN113995513 A CN 113995513A CN 202111501763 A CN202111501763 A CN 202111501763A CN 113995513 A CN113995513 A CN 113995513A
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- 238000001514 detection method Methods 0.000 claims abstract description 161
- 230000000875 corresponding effect Effects 0.000 claims abstract description 12
- 230000001276 controlling effect Effects 0.000 claims abstract description 7
- 230000001960 triggered effect Effects 0.000 claims description 14
- 230000004913 activation Effects 0.000 claims description 7
- 238000013459 approach Methods 0.000 description 12
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- 238000000034 method Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 4
- 230000005855 radiation Effects 0.000 description 4
- 238000003384 imaging method Methods 0.000 description 3
- 230000001681 protective effect Effects 0.000 description 3
- 230000002159 abnormal effect Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000011022 operating instruction Methods 0.000 description 2
- 238000013146 percutaneous coronary intervention Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 208000008035 Back Pain Diseases 0.000 description 1
- 208000003618 Intervertebral Disc Displacement Diseases 0.000 description 1
- 206010028836 Neck pain Diseases 0.000 description 1
- 238000009529 body temperature measurement Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
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- 239000000126 substance Substances 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/06—Measuring instruments not otherwise provided for
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
Abstract
The present specification provides an operating system and a console for an interventional surgical robot, the system comprising: an operating lever configured to generate a voltage output signal based on a trigger; a grip portion provided on the operating lever; the detection module is used for detecting the state of the target object around the holding part, outputting a detection signal representing the state of the target object around the holding part, and outputting a first detection signal when the target object is detected to be close to the holding part; the driving module is used for driving the percutaneous equipment to move according to the output signal; the control module is electrically connected with the detection module, the driving module and the operating rod, the control module is used for controlling the operating rod to be in an effective state according to the first detection signal when a preset condition is met, and the control module can control the driving module to execute corresponding actions based on the voltage output signal in the effective state. The operating system and the console provided by the specification can prevent mistaken touch operation, and the safety of the operating system is improved.
Description
Technical Field
The application relates to the technical field of medical equipment, in particular to an operating system and a console of an interventional surgical robot.
Background
In medical procedures requiring patient imaging, the imaging device exposes the healthcare worker to harmful substances (e.g., X-rays). Because medical procedures often take a long time, medical personnel need to wear heavy radiation protective clothing to provide radiation protection. Heavy radiation protective clothing is heavy, and medical personnel can produce problems such as fatigue, neck and back pain and disc herniation in long-time work after wearing.
In the prior art, medical personnel may use remote controls to assist in performing procedures, allowing the medical personnel to diagnose or treat a patient through a console or workstation that performs a medical procedure without direct and/or remote access to the patient, so that the medical personnel can leave the room (e.g., a catheter room) where the imaging device is located, avoiding the problems associated with wearing heavy radiation protective clothing. Interventional robotic systems have been developed to assist physicians in performing catheterization procedures, such as Percutaneous Coronary Intervention (PCI). The physician can precisely manipulate the guide wire, catheter or treatment device through the surgical robotic system.
The surgical robotic system includes an input device for a user to input an operating instruction, and a drive mechanism capable of driving a catheter, guidewire, or the like in response to the operating instruction of the user to provide linear and rotational movement of the catheter, guidewire, or the like. The input device may include an analog joystick that is used by the operator. However, the operating lever may be accidentally triggered by some external accidental force, such as a book, an elbow, a cup, etc., causing the driving mechanism to perform an action that should not be performed, resulting in some undesirable consequences.
Disclosure of Invention
In order to solve at least one technical problem existing in the prior art, the application provides an operation system and a control console of an interventional surgical robot, which can prevent mistaken touch operation and improve the safety of the operation system.
In order to achieve the above purpose, the technical solution provided by the present application is as follows:
an operating system of an interventional surgical robot, the system comprising:
an operating lever configured to generate a voltage output signal based on a trigger;
a grip portion provided on the operating lever;
the detection module is used for detecting the state of the target object around the holding part, outputting a detection signal representing the state of the target object around the holding part, and outputting a first detection signal when the target object is detected to be close to the holding part;
the driving module is used for driving the percutaneous equipment to move according to the voltage output signal;
the control module is electrically connected with the detection module, the driving module and the operating rod, and is used for controlling the operating rod to be in an effective state according to the first detection signal when a preset condition is met, and under the effective state, the control module can control the driving module to execute corresponding actions based on the voltage output signal.
As a preferred embodiment, when the preset condition is not satisfied or the control module does not receive the first detection signal, the control module controls the operating lever to be in a failure state, and in the failure state, the control module controls the driving module not to act.
As a preferred embodiment, the object state includes: at least one of a temperature of the object, a type of the object, and a distance of the object to the grip.
As a preferred embodiment, the detection module includes: place in place infrared sensor in the portion of gripping, infrared sensor includes transmitter and receiver, the transmitter is used for sending infrared light, the receiver is used for receiving infrared light is through the signal light that forms behind the reflection, the portion of gripping sets up the printing opacity portion that is used for sending infrared light and received signal light, the receiver is when received signal light, infrared sensor to control module sends first detected signal.
As a preferred embodiment, the detection module includes: the plurality of infrared sensors are arranged around the circumferential direction of the holding part at intervals, each infrared sensor correspondingly outputs one first detection signal, and the preset conditions are as follows: the number of the first detection signals detected by the control module is more than one half of the number of the infrared sensors.
As a preferred embodiment, the detection module includes: the infrared temperature measuring sensor is arranged in the holding part, when the infrared temperature measuring sensor detects that the temperature of the target object reaches a preset range, a first detection signal is sent to the control module, the control module controls the operating rod to be in an effective state when detecting the first detection signal, and the control module controls the operating rod to be in an invalid state when not detecting the first detection signal.
As a preferred embodiment, the preset conditions are: and if the control module detects the first detection signal for a first preset time, the control module controls the operating rod to be in an effective state.
As a preferred embodiment, the operating system includes: the operating rod actuation detection module is used for detecting working parameters of the operating rod, the control module detects the first detection signal and meets preset conditions, and based on the operating rod actuation detection module, the operating rod actuation detection module judges that the working parameters of the operating rod are in a normal state, the indicating module is controlled to send prompt information.
As a preferred embodiment, the detection module includes: the infrared detection device comprises a first detection module and a second detection module, wherein the first detection module is an infrared sensor, the second detection module is a temperature sensor, the infrared sensor comprises a transmitter and a receiver, the transmitter is used for emitting infrared light, the receiver is used for receiving signal light formed after the infrared light is reflected, and the infrared sensor sends a first detection signal to the control module when the receiver receives the signal light; and when the temperature sensor detects that the temperature of the holding part reaches a preset range, sending a second detection signal to the control module, wherein the preset condition is that the second detection signal is detected within second preset time after the first detection signal is received.
As a preferred embodiment, the lever is configured to generate a first voltage output signal based on a user triggered linear activation and a second voltage output signal based on a user triggered rotational activation, the drive module being configured to cause linear movement of the transcutaneous device in accordance with the first voltage output signal and to cause rotational movement of the transcutaneous device in accordance with the second voltage output signal.
A console of an interventional surgical robot, the console comprising:
an operating lever configured to generate a voltage output signal based on a trigger;
a grip portion provided on the operating lever;
the detection module is used for detecting the state of the target object around the holding part, outputting a detection signal representing the state of the target object around the holding part, and outputting a first detection signal when the target object is detected to be close to the holding part;
the control module is used for controlling the operating rod to be in an effective state according to the first detection signal and when a preset condition is met, and the control module can send out a corresponding command based on the voltage output signal in the effective state.
Has the advantages that:
according to the operating system and the console of the interventional surgical robot, the operating system is provided with the detection module for detecting whether the target object approaches the grasping position or not according to the grasping habit of the hand, when the hand normally grasps the hand, the target object can be detected to approach the grasping position, and the user is considered to have the operation intention on the operating rod when the preset condition is met. Therefore, the operating system can judge that the user has an operation intention on the operating rod according to the first detection signal, so that triggering caused by mistaken touch of other forces on the operating rod can be prevented when the first detection signal is not detected or the preset condition is not met.
Furthermore, the operating system detects whether the working parameters of the operating rod are in a normal state through the operating rod actuation detection module, so that the control indication module sends out prompt information when the working parameters of the operating rod are judged to be in the normal state. Therefore, when the user needs to trigger the operating rod and approaches the operating rod, the operating system can remind the user whether the operating rod is in a normal state or not so as to trigger the operating rod when knowing that the operating rod is in the normal state. If the control module detects that the working parameters of the operating rod are in an abnormal state, namely the operating rod breaks down, the indicating module cannot send out prompt information even if the first detection signal is detected and the preset condition is met, and therefore a user can be reminded that the operating rod breaks down.
Specific embodiments of the present application are disclosed in detail with reference to the following description and drawings, indicating the manner in which the principles of the application may be employed. It should be understood that the embodiments of the present application are not so limited in scope.
Features that are described and/or illustrated with respect to one embodiment may be used in the same way or in a similar way in one or more other embodiments, in combination with or instead of the features of the other embodiments.
It should be emphasized that the term "comprises/comprising" when used herein, is taken to specify the presence of stated features, integers, steps or components but does not preclude the presence or addition of one or more other features, integers, steps or components.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without inventive labor.
Fig. 1 is a schematic block diagram of an operating system of an interventional surgical robot provided in one embodiment of the present description;
FIG. 2 is a schematic structural diagram of an operating lever according to an embodiment of the present disclosure;
fig. 3 is a schematic block diagram of an operating system of an interventional surgical robot provided in another embodiment of the present description;
fig. 4 is a schematic block diagram of an operating system of an interventional surgical robot according to another embodiment of the present disclosure.
Description of reference numerals:
1. an operating lever; 2. a grip portion; 21. a barrel structure; 3. a drive module; 4. a control module; 5. a detection module; 51. a first detection module; 52. a second detection module; 5a, a first infrared sensor; 5b, a second infrared sensor; 5c, a third infrared sensor; 5d, a fourth infrared sensor; 6. an operating lever actuation detection module; 7. and indicating the module.
Detailed Description
While the invention will be described in detail with reference to the drawings and specific embodiments, it is to be understood that these embodiments are merely illustrative of and not restrictive on the broad invention, and that various equivalent modifications can be effected therein by those skilled in the art upon reading the disclosure.
It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.
An operating system and a console of an interventional surgical robot according to an embodiment of the present specification will be explained and explained with reference to fig. 1 to 4. It should be noted that, in the embodiments of the present invention, like reference numerals denote like components. And for the sake of brevity, detailed descriptions of the same components are omitted in different embodiments, and the descriptions of the same components may be mutually referred to and cited.
The present specification provides an operating system of an interventional surgical robot capable of performing a medical procedure based on a percutaneous interventional device such as a catheter or a guide wire. The interventional robot as a whole may comprise two parts, a console and a bedside system, which may be configured with any suitable transcutaneous interventional device or other components to allow a user to perform a transcutaneous interventional device based medical procedure via a control module of the console. The bedside system includes a drive module capable of automatically advancing the percutaneous access device into the patient's body in response to commands issued by the control module, and a robotic arm for supporting the drive module. The driving module and the console transmit instructions and signals through a communication link, wherein the communication link can be a wireless connection, a cable connection or other modes.
The operating system of the interventional surgical robot comprises: an operating lever 1 configured to generate a voltage output signal based on a trigger; a grip portion 2, the grip portion 2 being provided on the operation lever 1; the detection module 5 is used for detecting the state of the target object around the holding part 2, outputting a detection signal representing the state of the target object around the holding part 2, and outputting a first detection signal when the target object is detected to be close to the holding part 2; the driving module 3 is used for driving the percutaneous equipment to move according to the voltage output signal; and the control module 4 is electrically connected with the detection module 5, the driving module 3 and the operating rod 1.
The control module 4 is located inside the console, and may be a circuit board assembly, and the control module 4 is electrically connected to the operating rod 1, and includes an operating rod trigger detection unit, a control unit, a driving unit, and the like. The operating rod trigger detection unit detects the trigger state of the operating rod 1, transmits a corresponding signal to the control unit when triggered, and the control unit analyzes and processes the signal and then controls the driving module 3 through the driving unit. Wherein the control unit may take the form of, for example, a microprocessor or processor and a computer-readable medium storing computer-readable program code (e.g., software or firmware) executable by the (micro) processor, logic gates, switches, an application-specific integrated circuit (a)PPLICATION SPECIFIC INTEGRATED CIRCUITASICs), programmable logic controllers, and embedded microcontrollers, among others.
In one embodiment of the present description, the joystick 1 is configured to generate a first voltage output signal based on a user-triggered linear activation and a second voltage output signal based on a user-triggered rotational activation. The operating rod triggers the detection signal to send electric signals with different identifications to the control unit according to the detected first voltage output signal or the detected second voltage output signal and different signal types, and the control driving module 3 executes corresponding actions. Specifically, the driving module 3 drives the transcutaneous device to move linearly according to the first voltage output signal, and drives the transcutaneous device to move rotationally according to the second voltage output signal.
In addition, the operating lever 1 may also be used to perform a single control, i.e. a linear motion control or a rotational motion control, e.g. configured to generate a first voltage output signal based on a user trigger, according to which the drive module 3 brings the transcutaneous device into linear motion; or to generate a second voltage output signal based on a user trigger, according to which the drive module 3 imparts a rotational movement to the transcutaneous device.
Further, the operating levers 1 may include three, i.e., a first operating lever, a second operating lever and a third operating lever. The first, second and third levers may each be used to control a different type of transcutaneous device. The first operating rod, the second operating rod and the third operating rod are respectively provided with a holding part 2, and then the first operating rod, the second operating rod and the third operating rod respectively detect the state of the target object around the respective holding part 2 through the detection module 5 and respectively output a first detection signal, so that the first operating rod, the second operating rod and the third operating rod are independently controlled operation units and are independently operated with each other. For example, a first operating lever may be used to control linear movement as well as rotational movement of the catheter; the second operating rod can be used for controlling the linear movement and the rotary movement of the guide wire; the third operating rod may be used to control the linear movement of the balloon catheter or stent.
In this specification, the object may be a human hand, and the lever 1 is capable of generating a voltage output signal upon activation by a user. Of course, when the operation lever 1 is triggered by another object (e.g., a book or a cup), the voltage output signal can be generated even when the operation lever 1 is touched by mistake. However, if the control lever 1 is touched by mistake, the generated voltage output signal is detected by the control module 4 and a command is given to the drive module 3, which may cause an unexpected movement of the transcutaneous device and cause a medical accident.
In order to eliminate the influence of such signals, the grip portion 2 is provided at the upper end of the operation lever 1 in accordance with the habit of being gripped by a human hand, and the state of an object around the grip portion 2 is detected by the detection module 5, and a first detection signal is output when the object is detected to approach the grip portion 2. Specifically, when the human hand is gripping normally, and it is detected that the target object approaches the gripping position, it is considered that the user has an operation intention on the operation lever 1. Therefore, it is possible to prevent the trigger due to the erroneous touch of the operation lever 1 when the operation intention of the user on the operation lever 1 is not detected.
As shown in fig. 2, the detection module 5 may be built into the grip 2. The detection device comprises an operation rod 1, a cylindrical structure 21 is arranged on a rod body or a shaft of the operation rod 1, a holding part 2 is formed above the cylindrical structure 21, a detection module 5 is arranged inside the cylindrical structure 21 and located above the cylindrical structure 21, and a first detection signal is output when a target object is detected to be close to the holding part 2. Thus, even if the other portion of the operation lever 1 is driven by external force, the first detection signal is not output.
The control module 4 is electrically connected with the detection module 5, the operating rod 1 and the driving module 3, and is used for controlling the operating rod 1 to be in an effective state according to the first detection signal when a preset condition is met, and under the effective state, the control module 4 can control the driving module 3 to execute corresponding actions based on the voltage output signal. Further, when the preset condition is not met or the control module 4 does not receive the first detection signal, the control module 4 controls the operation rod 1 to be in a failure state, and in the failure state, the control module 4 controls the driving module 3 not to act.
Specifically, the valid state refers to that the operating rod 1 is triggered, and the driving module 3 executes corresponding action based on the generated voltage output signal; the invalid state means that the operation lever 1 is triggered and the drive module 3 does not operate. In this embodiment, the operation lever 1 is triggered in a failure state, and the operation lever 1 still sends a voltage output signal to the control module 4, but the control module 4 does not analyze and process the signal, and does not instruct the driving module 3 to operate according to the signal. On the contrary, if the operating rod 1 is triggered in the active state, the control module 4 will control the driving module 3 to execute the corresponding action according to the signal.
It can be seen that when the operating lever 1 is set to the active state, the control module 4 is required to detect the first detection signal and satisfy the preset condition. When the operation lever 1 is set to the fail state, the control module 4 does not detect the first detection signal or detects the first detection signal but does not satisfy the preset condition. The preset condition is set differently according to the embodiment of the detection module 5.
In the present specification, the target state includes: at least one of a temperature of the object, a type of the object, and a distance of the object to the grip.
In one embodiment of the present disclosure, as shown in fig. 3, the detection module 5 includes: interior place in infrared sensor in the portion of gripping 2, infrared sensor includes transmitter and receiver, the transmitter is used for sending infrared light, the receiver is used for receiving infrared light is through the signal light that forms behind the reflection, the portion of gripping 2 sets up the printing opacity portion that is used for sending infrared light and received signal light, the receiver is when received signal light, infrared sensor to control module 4 sends first detected signal.
Specifically, the transmitter and the receiver are arranged on the same side or coaxially, when the transmitter and the receiver are coaxially arranged, the inner ring is provided with the transmitter for transmitting infrared rays, and the outer ring is provided with the receiver for receiving signal light. When a human hand approaches the grasping position of the operating rod 1, infrared light emitted by the emitter is reflected after reaching the human hand to form signal light; if the hand is not close to the gripping position of the operating rod 1, the infrared light emitted by the emitter cannot be shielded by the hand, and cannot be reflected, so that signal light cannot be generated.
In the present embodiment, the distance between the object around the grip portion 2 and the grip portion 2 is detected by the infrared sensor, and when the signal light is detected, it indicates that the object approaches within the detection range. The infrared sensor is used for short-distance detection, the detection range can be controlled by adjusting the precision of the sensor, the specific adjustment mode is the prior art, and detailed description is not provided in the application.
Further, the detection module 5 includes: the plurality of infrared sensors are arranged around the circumferential direction of the holding part 2 at intervals, each infrared sensor correspondingly outputs one first detection signal, and the preset conditions are as follows: the number of the first detection signals detected by the control module 4 is more than one half of the number of the infrared sensors.
In the present embodiment, according to the habit of being grasped by a human hand, by arranging a circle of infrared sensors in the circumferential direction of the grasping portion 2 above the operation lever 1, when a doctor's hand covers most of the sensors when grasping the operation lever 1, the sensors covered by the doctor's hand detect a target object, and if the number of first detection signals detected by the control module 4 is greater than one half of the number of infrared sensors, it is considered that the user has an operation intention, the operation lever 1 is in an effective state. Secondly, whether a target object is close to the periphery of the holding part 2 is detected through the infrared sensor, so that the doctor can detect the doctor with or without wearing medical gloves, and more recognition scenes are obtained.
In a specific application scenario, as shown in fig. 3, four infrared sensors, namely a first infrared sensor 5a, a second infrared sensor 5b, a third infrared sensor 5c and a fourth infrared sensor 5d, are arranged around the grip portion 2 of the operating rod 1, and when three or more infrared sensors send out first detection signals, the control module 4 controls the operating rod 1 to be in an active state.
In one embodiment of the present disclosure, the detection module 5 may include: the infrared temperature measuring sensor is arranged in the holding part 2, when the infrared temperature measuring sensor detects that the temperature of the target object is within a preset range, a first detection signal is sent to the control module 4, the control module 4 controls the operating rod 1 to be in an effective state when detecting the first detection signal, and the control module 4 controls the operating rod 1 to be in an ineffective state when not detecting the first detection signal.
In this embodiment, the temperature of the target object around the holding portion 2 is detected by the infrared temperature measurement sensor, so that when the detected temperature reaches a preset range, it indicates that a hand of a person approaches the holding portion 2, and a first detection signal is sent to the control module 4. The predetermined range may be 32-38 ℃.
Further, the preset conditions are as follows: if the control module 4 detects the first detection signal for a first preset time, the control module 4 controls the operation rod 1 to be in an active state. Specifically, when the hand of the user approaches the operation lever 1 without operational intention and carelessly linearly activates the operation lever 1, noise is generated if the temperature instantaneously detected by the infrared temperature sensor reaches a preset range. That is, the detection of the infrared thermometry sensor will be reliable only if the user's hand has a clear operational intent. By setting the predetermined time period for detection, it can be determined that the user has a clear operation intention, and the accuracy of detection can be improved. The first preset time may be in a range of 1S to 3S.
In this specification, as shown in fig. 4, the detection module 5 includes: the detection device comprises a first detection module 51 and a second detection module 52, wherein the first detection module 51 is an infrared sensor, the second detection module 52 is a temperature sensor, the infrared sensor comprises a transmitter and a receiver, the transmitter is used for emitting infrared light, the receiver is used for receiving signal light formed by the infrared light after reflection, and the infrared sensor sends a first detection signal to the control module 4 when the receiver receives the signal light; when the temperature sensor detects that the temperature of the holding part 2 reaches a preset range, a second detection signal is sent to the control module 4, and the preset condition is that the second detection signal is detected within a second preset time after the first detection signal is received.
Specifically, the detection module 5 detects the environmental state around the grip 2 by the first detection module 51 and the second detection module 52 together. The first detecting module 51 may be an infrared sensor disposed inside the grip portion 2, and the number of the infrared sensors may be one or more, and when detecting that the target object approaches the grip portion 2, the infrared sensor sends a first detecting signal to the control module 4. The second detecting module 52 may be a temperature sensor disposed on the top or wall of the grip 2, and is configured to sense the temperature of the grip 2, and send a second detecting signal to the control module 4 when the temperature of the grip 2 detected by the second detecting module 52 reaches a preset range. When the control module 4 receives the first detection signal and the second detection signal in sequence, it indicates that the human hand has a definite operation intention, and the detection accuracy can be improved. The second preset time may be in a range of 1S to 3S.
In the present embodiment, inaccuracy of detection by the separate infrared sensor and the separate temperature sensor can be avoided. If a separate infrared sensor is used for detection, when an external force, such as a cup or book or the elbow of the user activates the operating lever 1 without operational intention, a first detection signal is detected by the infrared sensor and sent to the control module 4, and the first detection signal is not triggered by the operational intention of the user. For another example, when the operating environment of the interventional surgical robot causes excessive temperature in some cases, detection errors may also occur if a separate temperature sensor is used for detection. Therefore, detection errors caused by the scenes can be avoided through combined detection of the infrared sensor and the temperature sensor.
Therefore, if only the first detection signal or the second detection signal is detected, or the second detection signal is detected after the first detection signal is detected and the second detection signal is detected after the second preset time, it cannot indicate that the user has an operation intention on the operation lever 1, and the operation lever 1 is kept in an invalid state.
In this specification, as shown in fig. 3, the operating system includes: indicating module 7 and action bars actuating detection module 6, action bars actuating detection module 6 with control module 4 action bars 1 electric connection, action bars actuating detection module 6 is used for detecting the working parameter of action bars 1, control module 4 is detecting first detected signal satisfies the preset condition, and based on action bars actuating detection module 6 judges when the working parameter of action bars 1 is in normal condition, control indicating module 7 sends out prompt message.
In this specification, the prompt message includes a prompt light or a prompt sound, or a combination of the prompt light and the prompt sound. When the operating system includes three operating levers 1, the corresponding indicating modules 7 should also have three numbers so as to be able to indicate whether each operating lever 1 is in a normal state, respectively. The operating lever actuation detection module 6 is used for detecting whether a trigger circuit of the operating lever 1 is in failure, and the operating parameters of the operating lever 1 include: at least one of voltage, current, temperature. When the working parameters of the operating rod 1 are detected to be in a normal state, that is, the working parameters are within a threshold range, and when it is detected that the user has an operation intention, the control instruction module 7 sends out prompt information to indicate that the operating rod 1 can be used normally.
In the present embodiment, the operating system detects whether the operating parameter of the operating rod 1 is in a normal state through the operating rod actuation detection module 6, so as to control the indication module 7 to send out a prompt message when the operating parameter of the operating rod 1 is determined to be in the normal state. Therefore, when the user needs to trigger the operating rod 1 and approaches the operating rod 1, the operating system can remind the user whether the operating rod 1 is in a normal state or not so as to trigger the operating rod 1 when knowing that the operating rod 1 is in the normal state. If the control module 4 detects that the working parameters of the operating rod 1 are in an abnormal state, that is, the operating rod 1 fails, even if the first detection signal is detected and the preset condition is met, the indicating module 7 does not send out prompt information, so that a user can be reminded that the operating rod 1 fails.
The present description also provides a console of an interventional surgical robot, the console comprising: an operation lever 1 configured to generate a voltage output signal based on a trigger of a target object; a grip portion 2, the grip portion 2 being provided on the operation lever 1; the detection module 5 is configured to detect a state of an object around the grip portion 2, output a detection signal representing the state of the object around the grip portion 2, and output a first detection signal when the object is detected to approach the grip portion 2; control module 4, with detection module 5 with action bars 1 electric connection, control module 4 is used for according to first detected signal and when satisfying the preset condition, control action bars 1 is the active state under the active state, control module 4 can send corresponding instruction based on voltage output signal.
The console can achieve the technical problems solved by the embodiments and accordingly achieve the technical effects of the embodiments, and specific details of the present application are not repeated herein.
It should be noted that, in the description of the present specification, the terms "first", "second", and the like are used for descriptive purposes only and for distinguishing similar objects, and no order is present therebetween, and no indication or suggestion of relative importance is to be made. Further, in the description of the present specification, "a plurality" means two or more unless otherwise specified.
The above embodiments are merely illustrative of the technical concepts and features of the present application, and the purpose of the present invention is to enable those skilled in the art to understand the content of the present application and implement the present application, and not to limit the protection scope of the present application. All equivalent changes and modifications made according to the spirit of the present application should be covered in the protection scope of the present application.
It is to be understood that the above description is intended to be illustrative, and not restrictive. Many embodiments and many applications other than the examples provided will be apparent to those of skill in the art upon reading the above description. The disclosures of all articles and references, including patent applications and publications, are hereby incorporated by reference for all purposes.
Claims (11)
1. An operating system of an interventional surgical robot, the system comprising:
an operating lever configured to generate a voltage output signal based on a trigger;
a grip portion provided on the operating lever;
the detection module is used for detecting the state of the target object around the holding part, outputting a detection signal representing the state of the target object around the holding part, and outputting a first detection signal when the target object is detected to be close to the holding part;
the driving module is used for driving the percutaneous equipment to move according to the voltage output signal;
the control module is electrically connected with the detection module, the driving module and the operating rod, and is used for controlling the operating rod to be in an effective state according to the first detection signal when a preset condition is met, and under the effective state, the control module can control the driving module to execute corresponding actions based on the voltage output signal.
2. An operating system of an interventional surgical robot according to claim 1, wherein the control module controls the operation lever to a fail state in which the control module controls the driving module not to act when a preset condition is not satisfied or the control module does not receive a first detection signal.
3. An operating system for an interventional surgical robot according to claim 1, wherein the target state comprises: at least one of a temperature of the object, a type of the object, and a distance of the object to the grip.
4. An operating system of an interventional surgical robot according to claim 3, wherein the detection module comprises: place in place infrared sensor in the portion of gripping, infrared sensor includes transmitter and receiver, the transmitter is used for sending infrared light, the receiver is used for receiving infrared light is through the signal light that forms behind the reflection, the portion of gripping sets up the printing opacity portion that is used for sending infrared light and received signal light, the receiver is when received signal light, infrared sensor to control module sends first detected signal.
5. An operating system of an interventional surgical robot according to claim 4, wherein the detection module comprises: the plurality of infrared sensors are arranged around the circumferential direction of the holding part at intervals, each infrared sensor correspondingly outputs one first detection signal, and the preset conditions are as follows: the number of the first detection signals detected by the control module is more than one half of the number of the infrared sensors.
6. An operating system of an interventional surgical robot according to claim 3, wherein the detection module comprises: the infrared temperature measuring sensor is arranged in the holding part, when the infrared temperature measuring sensor detects that the temperature of the target object reaches a preset range, a first detection signal is sent to the control module, the control module controls the operating rod to be in an effective state when detecting the first detection signal, and the control module controls the operating rod to be in an invalid state when not detecting the first detection signal.
7. An operating system of an interventional surgical robot according to claim 6, wherein the preset condition is: and if the control module detects the first detection signal for a first preset time, the control module controls the operating rod to be in an effective state.
8. An operating system of an interventional surgical robot as recited in claim 1, the operating system comprising: the operating rod actuation detection module is used for detecting working parameters of the operating rod, the control module detects the first detection signal and meets preset conditions, and based on the operating rod actuation detection module, the operating rod actuation detection module judges that the working parameters of the operating rod are in a normal state, the indicating module is controlled to send prompt information.
9. An operating system of an interventional surgical robot according to claim 3, wherein the detection module comprises: the infrared detection device comprises a first detection module and a second detection module, wherein the first detection module is an infrared sensor, the second detection module is a temperature sensor, the infrared sensor comprises a transmitter and a receiver, the transmitter is used for emitting infrared light, the receiver is used for receiving signal light formed after the infrared light is reflected, and the infrared sensor sends a first detection signal to the control module when the receiver receives the signal light; and when the temperature sensor detects that the temperature of the holding part reaches a preset range, sending a second detection signal to the control module, wherein the preset condition is that the second detection signal is detected within second preset time after the first detection signal is received.
10. An operating system for an interventional surgical robot as recited in claim 1, wherein the lever is configured to generate a first voltage output signal based on user-triggered linear activation and a second voltage output signal based on user-triggered rotational activation, the drive module moving the transcutaneous device linearly in accordance with the first voltage output signal and rotationally in accordance with the second voltage output signal.
11. A console of an interventional surgical robot, the console comprising:
an operating lever configured to generate a voltage output signal based on a trigger;
a grip portion provided on the operating lever;
the detection module is used for detecting the state of the target object around the holding part, outputting a detection signal representing the state of the target object around the holding part, and outputting a first detection signal when the target object is detected to be close to the holding part;
the control module is used for controlling the operating rod to be in an effective state according to the first detection signal and when a preset condition is met, and the control module can send out a corresponding command based on the voltage output signal in the effective state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111501763.0A CN113995513A (en) | 2021-12-09 | 2021-12-09 | Operating system and control console of interventional operation robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111501763.0A CN113995513A (en) | 2021-12-09 | 2021-12-09 | Operating system and control console of interventional operation robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114521971A (en) * | 2022-04-24 | 2022-05-24 | 深圳市爱博医疗机器人有限公司 | Interventional robot system and readable storage medium |
| US11701191B1 (en) | 2022-04-24 | 2023-07-18 | Shenzhen Institute Of Advanced Biomedical Robot Co., Ltd. | Interventional robot system, and control method and readable-storage medium thereof |
-
2021
- 2021-12-09 CN CN202111501763.0A patent/CN113995513A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114521971A (en) * | 2022-04-24 | 2022-05-24 | 深圳市爱博医疗机器人有限公司 | Interventional robot system and readable storage medium |
| CN114521971B (en) * | 2022-04-24 | 2022-07-05 | 深圳市爱博医疗机器人有限公司 | Interventional robot system and readable storage medium |
| US11701191B1 (en) | 2022-04-24 | 2023-07-18 | Shenzhen Institute Of Advanced Biomedical Robot Co., Ltd. | Interventional robot system, and control method and readable-storage medium thereof |
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